PatternGeneratorJRL::FootConstraintsAsLinearSystem Class Reference

#include <Mathematics/FootConstraintsAsLinearSystem.hh>

Inheritance diagram for PatternGeneratorJRL::FootConstraintsAsLinearSystem:

Collaboration diagram for PatternGeneratorJRL::FootConstraintsAsLinearSystem:

Public Member Functions
	FootConstraintsAsLinearSystem (SimplePluginManager *aSPM, PinocchioRobot *aPR)
	~FootConstraintsAsLinearSystem ()
int	ComputeLinearSystem (std::vector< CH_Point > aVecOfPoints, Eigen::MatrixXd &A, Eigen::MatrixXd &B, Eigen::VectorXd &C)
int	BuildLinearConstraintInequalities (std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t * > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
int	BuildLinearConstraintInequalities2 (std::deque< FootAbsolutePosition > &LeftFootAbsolutePositions, std::deque< FootAbsolutePosition > &RightFootAbsolutePositions, std::deque< LinearConstraintInequality_t * > &QueueOfLConstraintInequalities, double ConstraintOnX, double ConstraintOnY)
int	FindSimilarConstraints (Eigen::MatrixXd &A, std::vector< int > &SimilarConstraints)
virtual void	CallMethod (std::string &Method, std::istringstream &Args)

Detailed Description

This class generates matrix representation of linear constraint based on foot position. It handles a stack of constraint on a sliding mode for QP solving.

Constructor & Destructor Documentation

FootConstraintsAsLinearSystem::FootConstraintsAsLinearSystem	(	SimplePluginManager *	aSPM,
		PinocchioRobot *	aPR
	)

Constructor

FootConstraintsAsLinearSystem::~FootConstraintsAsLinearSystem

(

)

Destructor

Member Function Documentation

int FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities	(	std::deque< FootAbsolutePosition > &	LeftFootAbsolutePositions,
		std::deque< FootAbsolutePosition > &	RightFootAbsolutePositions,
		std::deque< LinearConstraintInequality_t * > &	QueueOfLConstraintInequalities,
		double	ConstraintOnX,
		double	ConstraintOnY
	)

Build a queue of constraint Inequalities based on a list of Foot Absolute Position.

References PatternGeneratorJRL::LinearConstraintInequality_s::A, PatternGeneratorJRL::LinearConstraintInequality_s::B, PatternGeneratorJRL::LinearConstraintInequality_s::Center, PatternGeneratorJRL::ComputeConvexHull::DoComputeConvexHull(), i, j, PatternGeneratorJRL::LinearConstraintInequality_s::SimilarConstraints, PatternGeneratorJRL::PinocchioRobotFoot_t::soleHeight, PatternGeneratorJRL::PinocchioRobotFoot_t::soleWidth, and PatternGeneratorJRL::LinearConstraintInequality_s::StartingTime.

int PatternGeneratorJRL::FootConstraintsAsLinearSystem::BuildLinearConstraintInequalities2	(	std::deque< FootAbsolutePosition > &	LeftFootAbsolutePositions,
		std::deque< FootAbsolutePosition > &	RightFootAbsolutePositions,
		std::deque< LinearConstraintInequality_t * > &	QueueOfLConstraintInequalities,
		double	ConstraintOnX,
		double	ConstraintOnY
	)

Build a queue of constraint Inequalities based on a list of Foot Absolute Position.

void FootConstraintsAsLinearSystem::CallMethod ( std::string &  Method, std::istringstream &  Args  )

virtual

Reimplement the interface of SimplePluginManager

Parameters

[in]	Method	The method to be called.
[in]	Args	Arguments of the methods.

int FootConstraintsAsLinearSystem::ComputeLinearSystem	(	std::vector< CH_Point >	aVecOfPoints,
		Eigen::MatrixXd &	A,
		Eigen::MatrixXd &	B,
		Eigen::VectorXd &	C
	)

Compute the linear system \({\bf A}{\bf x} \geq {\bf b}\) associated with the set of points specified by aVecOfPoints. aVecOfPoints is supposed to represent the convex hull of the robot contact points with the ground.

References a, b, c, i, and n.

int FootConstraintsAsLinearSystem::FindSimilarConstraints	(	Eigen::MatrixXd &	A,
		std::vector< int > &	SimilarConstraints
	)

Find Similar Constraints

References i.